JP4330512B2 - Component mounting equipment - Google Patents

Description

  The present invention provides a component mounting apparatus including a multiple nozzle component mounting head including a plurality of nozzles, a method for detecting a state of each of the nozzles, and a method for detecting a holding posture of the component held by each of the nozzles. Further, the present invention relates to a component mounting method and a component mounting apparatus for mounting each of the components on a circuit board based on the detection result.

  In recent years, there has been a strong demand from the market for electronic devices that incorporate electronic circuits formed by mounting electronic components on a circuit board as a plurality of components, for miniaturization, higher functionality, and lower cost. Yes.

  In such an electronic circuit, in a component mounting apparatus having a head unit having a nozzle for sucking and holding components, the plurality of components are mounted by the nozzles on the circuit board held on a stage. It is manufactured by. Further, in such a component mounting apparatus, a holding device of the electronic component by the head unit or the electron on the circuit board is detected by a detection device such as an imaging device or a light shielding sensor provided on the stage or the head unit. The component mounting position is recognized, and the electronic component is mounted on the circuit board based on the recognition result.

  On the other hand, in such an electronic component mounting apparatus, the electronic component and the circuit board are further miniaturized in order to meet the demands of the market, and the electronic component can be mounted on the circuit board with high density and high accuracy. In addition to being able to be performed, it is required to reduce the manufacturing cost of electronic circuits by shortening the time required for mounting and performing efficient mounting.

  In order to perform high-density and high-precision mounting of the electronic components on the circuit board, as a component mounting device including a detection device for recognizing whether the electronic components are held in an appropriate posture on the nozzle, for example, Patent Document 1 (Japanese Patent Laid-Open No. Sho 62-263405), Patent Document 2 (Japanese Patent Laid-Open No. 2004-158819), and the like.

  Patent Document 1 discloses a component mounting apparatus that detects a component held by a nozzle at one fixed position with a light-shielding sensor that can detect the lengths in two directions, the vertical direction and the horizontal direction.

Further, Patent Document 2 discloses a light projecting unit and a light receiving unit arranged so as to face each other along a direction orthogonal to the arrangement direction of the nozzles via respective component holding members (nozzles) arranged in a row. A component mounting apparatus including a line sensor composed of parts is disclosed. The component mounting apparatus detects each nozzle by sliding the light projecting unit and the light receiving unit along the nozzle arrangement direction so as to shield each nozzle.
JP-A-62-263405 JP 2004-158819 A

  However, the component mounting apparatus disclosed in Patent Document 1 needs to be provided with a light receiving sensor corresponding to each nozzle. Therefore, when a multi-nozzle component mounting head having a plurality of nozzles is used, there are problems in that the number of light receiving sensors is required as many as the number of nozzles, leading to an increase in size and cost of the apparatus.

  Moreover, the component mounting apparatus disclosed in Patent Document 2 is used for a multiple nozzle component mounting head having a plurality of nozzles, and detects the plurality of nozzles by a line sensor having a pair of light projecting and receiving portions. In addition, there is a problem that the light projecting unit and the light receiving unit must be slid along the nozzle arrangement direction.

  Therefore, the technical problem to be solved by the present invention is to detect the state of nozzles that can detect each nozzle using a single sensor in a multiple nozzle component mounting head having a plurality of nozzles with a simple configuration. By providing a method, a method for detecting the holding posture of the component held by each nozzle, a component mounting method for mounting each component on a circuit board based on the detection result, and a component mounting apparatus. is there.

In order to solve the above technical problem, the present invention provides a component mounting apparatus having the following configuration.

According to the first aspect of the present invention, each of the movable parts is configured to be vertically movable and linearly arranged in a direction intersecting the vertical movement direction, and connected to the lower end of the movable part, and can hold the component. A plurality of nozzle members each having a nozzle configured as described above, a moving device that independently moves the plurality of nozzle members up and down, and a height detector that can detect the vertical position of the movable portion of the nozzle member And a projector provided on one side of the nozzle member and arranged on one side across the nozzle, and on the other side of the plurality of nozzles provided on a straight line arranged of the nozzle member and arranged light receiver that is configured to be able to receive light from the projector, and the array type nozzle component mounting head equipped with,
The nozzle moving device is operated so that the plurality of nozzles are all retracted to the upper side of the optical path from the light projector so that the light receiver is in a light receiving state, and the nozzle moving device is operated to operate any one of the nozzle members. the lowered, the light receiver and the light shielding state tip of the nozzle intercepts the optical path, at the timing it is detected that the optical state shielding the light receiving state of the light receiver is switched by the tip portion of the nozzle, The vertical position of the movable part connected to the nozzle is measured by the height detector, and the descent and detection are repeated for all the nozzles existing between the light projector and the light receiver. detecting and a control arithmetic unit for controlling the operation of the array type nozzle the component mounting head as,
A part article mounting apparatus that having a,
Furthermore, the reference position information, which is information on the vertical position of the height detector at the timing when it is detected that the light receiving state and the light shielding state of the light receiver are switched, without holding the component, and the component are held. Position information storage means for storing inspection position information which is information on the vertical position of the height detector at a timing at which it is detected that the light receiving state and the light shielding state of the light receiver are switched in the state;
A load cell capable of outputting an output signal corresponding to the pressing strength of the nozzle by pressing the nozzle on the upper surface;
With
The nozzle is configured to have a relief upward when its tip is biased downward and pressed upward.
The control calculation unit is
During the mounting operation of the component, based on the reference position information and the inspection position information stored in the position information storage unit, the nozzle movement amount when the nozzle picks up the component and the nozzle is held by the nozzle. In addition, the thickness dimension of the component and the amount of nozzle movement when the component is mounted on the substrate are calculated,
After the nozzle is lowered onto the substrate in order to mount the component on the substrate, the vertical position of the height detector at the timing when it is detected that the light receiving state and the light shielding state of the light receiver are switched. Measure the information again,
When the difference between the measured vertical position and the reference position information is a predetermined value or more and the measured vertical position is higher than the reference position information, the nozzle is Press the load cell to measure the output value from the load cell,
When the difference between the output value from the load cell stored in advance and the output value from the load cell is equal to or greater than a predetermined value, it is determined that the escape of the nozzle is not functioning. Providing equipment.

According to the second aspect of the present invention, the light receiver has a line sensor extending along the moving direction of the nozzle,
Detection position storage means for storing the relationship between the output value of the line sensor and the vertical position of the nozzle as a detection start output value in association with each nozzle;
The control calculation unit is configured so that the height detector and the nozzle at the timing when the output value from the line sensor becomes the detection start output value corresponding to each nozzle stored in the detection position storage unit. A component mounting apparatus according to a first aspect for measuring the vertical position of the movable part to be connected is provided.

According to a third aspect of the present invention, the control calculation unit is
When the difference obtained by subtracting the reference position information from the measured vertical position is a predetermined value or more and the measured vertical position is a lower position than the reference position information, the component is A component mounting apparatus according to a first or second aspect that outputs a signal indicating that the nozzle is held by the nozzle is provided.

According to a first state like the present invention, since a pair of emitter and receiver are disposed along the arrangement direction of the nozzle member, detecting for all the nozzles are arranged by the transmitter and receiver Can do. In this case, since a plurality of nozzles exist on the optical path from the projector, at the time of detection, all the nozzles are withdrawn from the optical path, and the nozzles to be detected are lowered one by one so that the nozzles are placed in the optical path. The light receiver is switched between a light receiving state and a light shielding state. Thereby, the absolute position of the tip of the nozzle member (the lower end of the component when the component is held by the nozzle) with the multiple nozzle component mounting head can be detected.

Oite the first state like the present invention, the light receiver may be a photo sensor such that it can be detected whether or not the receiving light of a single optical axis from the projector, the CCD sensor In this way, a configuration capable of detecting the amount of received light including a large number of optical axes may be used. It is also possible to use a light quantity sensor that can detect the amount of light blocked by the nozzle by the quantity of light input to the sensor. That is, when a photosensor is used as a light receiver, it is detected whether or not one optical axis incident on the photosensor is shielded. When the light is shielded, the light is shielded and when it is not shielded, the light is received. Detect as a state. When a CCD sensor is used, it detects which scanning line is shielded from a large number of scanning lines emitted from the light emitter. Then, a predetermined position is set as a threshold value between the light receiving state and the light shielding state, and the detection is performed by comparing the detected position of the boundary between the light shielding and the light receiving by the nozzle. Further, when a light amount sensor is used, the amount of light reaching the light amount sensor is detected. Then, the light reception state and the light shielding state are detected based on the magnitude relationship in which the output value from the sensor is compared with a predetermined value as a threshold value between the light reception state and the light shielding state.

  Since the light receiver and the projector are fixed to the multiple nozzle component mounting head, for example, when the light receiving state and the light shielding state of the light receiver are switched, the nozzle is mounted on the multiple nozzle component at that timing. It exists in a fixed absolute position with respect to the head. At this position, by measuring the vertical position of the movable part connected to the nozzle by the height detector, the positional relationship between the nozzle and the movable part becomes clear, and the state of the nozzle member can be detected. When measuring the vertical position of the movable part by moving the nozzle to a position where light reception and light shielding are switched, the nozzle does not necessarily have to be stopped, and the nozzle is moving to the target position. The vertical position may be measured by the height detector at the timing when the switching is performed. In the case of detecting the nozzle, when the nozzle is lowered, the light receiver may detect the switching timing from the light receiving state to the light shielding state, or once the nozzle is lowered, the original retraction position is detected. In the middle of ascending so as to return, the timing for switching the light receiving device from the light shielding state to the light receiving state may be detected.

Therefore, according to the present invention, by using a set of transmitter and receiver, detects the position of the lower end of the component sucked and held by the nozzle or nozzles, breaking of the nozzle bend, they lack the like, positions of the plurality of nozzles Therefore, the detection mechanism can be configured simply and inexpensively.

According to a second state like the present invention, the light receiver, because it has a line sensor extending along the moving direction of the nozzle is appropriately set the output value of the line sensor when detecting the state of the nozzle be able to. That is, in the multiple nozzle component mounting head having the above configuration, the distance from the light projector and the light receiver to the nozzle to be detected is different for each nozzle. Even if the output values are the same, the nozzles do not necessarily exist at the same position, and the detection accuracy may be reduced. Therefore, the output value from the line sensor at the position where detection is performed for each nozzle is stored in advance, and the timing at which this value is reached may be the timing at which the light shielding and the light receiving are switched. That is, at the timing when the output from the line sensor becomes a pre-stored detection start output value, the corresponding position is set for each different nozzle in the optical axis direction by referring to the stored information. Can do. Therefore, the detection accuracy can be further increased.

According to a first state like the present invention, by taking the difference by comparing the information in the vertical position of the movable part when not holding the case holding the part, it is determined by calculating the thickness of the component it can. That is, since the length of the nozzle member varies depending on the presence or absence of a component, the thickness dimension of the component is calculated by comparing the reference position information that is the vertical position of the movable part corresponding to each and the inspection position information. Can do. In addition, when the difference between the reference position information and the inspection position information is extremely small, it can be determined that no component is held in the nozzle when the reference position information and the inspection position information are measured. It is possible to detect whether the part is held.

According to a first state like the present invention, with parts on the basis of the reference position information indicating the vertical position of the state of not being held, the nozzle calculates the nozzle moving amount when taking out the component, component is held By calculating the nozzle movement amount when mounting the component on the board based on the inspection position information indicating the vertical position in the state of being in an accurate state, it is possible to control the accurate nozzle drop width, Mounting operation can be performed. Specifically, for example, the position of the movable part in the vertical direction at the timing when the nozzle is lowered to hold the component by suction and the light to the light receiver is blocked is used as the reference position information, and the substrate is sucked and held. While the nozzle is going up to return to the original standby position for mounting, the vertical position of the movable part at the timing when the light to the light receiver switches from light blocking to light receiving can be used as the inspection position information. . By inspecting in this way, it is possible to measure the thickness dimension of the component and the presence or absence of suction holding during the nozzle mounting operation.

According to a first state like the present invention, it is possible to determine the good or defective of the nozzle by repeating the mounting operation. That is, the nozzle state may change during the mounting operation. In this case, for example, after the nozzle is lowered for mounting, the vertical position of the movable part is measured at the timing when the light to the light receiver switches from the light shielding to the light receiving when the nozzle returns to the standby position. The position of the nozzle can be detected.

According to a third state like the present invention, in a case of detecting a defective nozzle, vertical direction difference between the reference position information and the measured vertical position is equal to or greater than the predetermined value, and is the measurement When the position is higher than the reference position information, since the component is held by the nozzle, it can be determined that the component has been brought home due to a component mounting error on the board. Outflow of defective substrates due to products can be prevented in advance.

According to a first state like the present invention, said difference between the measured vertical position and the reference position information is equal to or larger than a predetermined value, and the measured vertical position, than the reference position information In the case of the upper position, since the position of the tip of the nozzle has moved above the reference position information, for example, it can be determined that the nozzle is bent or bent, and the mounting operation by the nozzle is performed. Can be stopped. Therefore, the mounting accuracy can be improved.

According to the first aspect of the present invention, in the case where the nozzle is configured so that escape occurs on the upper side, the difference between the measured vertical position and the reference position information is a predetermined value or more, If the measured vertical position is higher than the reference position information, the nozzle tip may escape upward and not return to the original position, and the escape may not function. In this case, the state of the tip of the nozzle can be detected by pressing the nozzle on the load cell and measuring its output.

  Hereinafter, a component mounting apparatus according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 shows an overall schematic perspective view of the component mounting apparatus 101 according to the first embodiment of the present invention. The component mounting apparatus 101 includes a loader 1 that carries the circuit board 2 into the component mounting apparatus 101, an unloader that can carry out the circuit board 2 on which the components are mounted from the component mounting apparatus 101, and a component that is mounted on the circuit board 2. In the meantime, a first substrate transport and holding device 3 including a pair of support rail portions that transport and hold the circuit board 2 carried from the loader 1 is provided. In FIG. 1, the circuit board is loaded on the loader 1 and the circuit board 2-0 is carried into the component mounting apparatus 101. The circuit board is loaded on the first board transporting and holding apparatus 3, and the circuit board 2-1. 5 shows a state in which components are mounted and a state in which the circuit board 2-3 on which the components are mounted is being unloaded from the component mounting apparatus 101. In the following description, when a circuit board is shown regardless of position, it is shown as “circuit board 2”, and when a circuit board located at a specific position is shown, It shall be shown as “Substrate 2-0, 2-1, 2-2, or 2-3”.

  Further, the component mounting apparatus main body 101 is arranged at each end on the front side in the Y-axis direction in the figure, which is the front side with respect to the worker in the component mounting work area, and takes out a plurality of components to be mounted on the circuit board 2. A component supply unit having a plurality of component supply cassettes 80 that are sequentially and sequentially supplied to the position, and a component supply that is arranged in the vicinity of the component supply unit 8B and that stores components to be mounted on the circuit board 2 on a tray 8C is provided. The components supplied from the respective component supply cassettes 80 in the component supply units 8A and 8B are, for example, mainly miniaturized chip components, while the components supplied from the component supply unit 8C include, for example, These are IC parts typified by IC chips and irregular parts such as connectors.

  The component mounting apparatus main body 101 sucks the components supplied from the component supply units 8A, 8B and 8C and mounts them on the circuit board 2 for mounting the component supply units 8A and 8B for supplying the components 2. The first head unit 4 and the nozzle unit disposed on the side near the center of the component mounting work area in the vicinity of the component supply unit 8A and provided at the tip of each suction nozzle assembly 10 in the first head unit 4 39 includes a recognition camera 9 that is an example of an imaging device that captures the suction posture of a component that is suction-held, and a control calculation unit 100.

  The first head unit 4 is configured to be movable by an XY robot 5 that is positioned at predetermined positions in the X-axis direction and the Y-axis direction, which are two orthogonal directions in the component mounting work area that is the upper surface of the component mounting apparatus 101. ing. The first head portion is a multiple nozzle component mounting head equipped with a plurality of, for example, twelve, detachable nozzle portions 39 for sucking and holding the components in a releasable manner. The first head unit 4 can be moved two-dimensionally in the component mounting work area by the XY robot 5. For example, component supply is performed to suck and hold components supplied from the component supply units 8A, 8B, and 8C. In order to mount the components on the circuit board 2-1 held by the first substrate transfer holding device 3, the first substrate transfer holding device 3, and if necessary, the head portion 4. In order to replace the equipped nozzle part 39, it can be moved above the nozzle station 7 or the like. The nozzle station 7 accommodates a plurality of types of nozzle units 39 that are arranged in the vicinity of the component supply unit 8A in the component mounting work area and are suitable for a plurality of types of components.

  Further, the component mounting apparatus 101 shown in FIG. 1 receives the circuit board 2-1 transferred from the first board transfer holding device 3, and also includes a second board transfer holding device 13 including a pair of support rail portions that hold and hold the circuit board 2-1. The second head unit 14 equipped with a plurality of, for example, twelve, suction nozzle assemblies 10 that hold the suction to releasably hold, and position the second head 14 at predetermined positions in the X-axis direction and the Y-axis direction. The robot 15 is disposed in the vicinity of the component supply unit 18A and accommodates a plurality of types of nozzle units 39 suitable for a plurality of types of components. The nozzle station 17 to be replaced, and the component 2 to be mounted on the circuit board 2-1, respectively, are arranged at the end on the back side in the Y-axis direction in the figure, which is the back side for the worker in the component mounting work area. Are disposed in the vicinity of the component supply units 18A and 18B and the component supply unit 18B having a plurality of component supply cassettes 80 that are continuously supplied to the component supply position 81 one by one, and should be mounted on the circuit board 2 The component supply unit 18C that stores and holds the tray components that are stored and held in a tray shape is disposed on the side close to the center of the component mounting work area in the vicinity of the component supply unit 18A, and the nozzle unit 39 of the second head unit 14 includes Each has a recognition camera 19 that images the suction posture of the sucked component 23. Further, load cells 12 for measuring the load when the nozzle portions 39 of the first head portion and the second head portion 14 are in contact with each other and adjusting the height of the nozzle portion 39 are provided at two locations.

  As described above, the component mounting apparatus 101 has two component mounting work areas arranged on the upper surface of the mounting apparatus base 16, and the first substrate transfer holding apparatus 3 and the second substrate transfer holding apparatus 13 have the same structure. It is possible to perform component mounting operations simultaneously and individually on the respective circuit boards 2 held respectively.

  Next, the structure of the head parts 4 and 14 will be described in detail. In addition, since the 1st head part 4 and the 2nd head part 14 have the same structure, in the following description, description of the structure of the 1st head part 4 is typically shown in FIG. 1 is performed using a partial perspective view of the head portion 4.

  As shown in FIGS. 2 and 3, the first head unit 4 includes a plurality of, for example, twelve suction nozzle assemblies 10, and six rows along the illustrated X-axis direction are illustrated with a constant pitch Px. This is a so-called multiple head unit that is provided in a state in which two rows are arranged at a constant pitch Py along the Y-axis direction. The respective suction nozzle assemblies 10 provided in the first head unit 4 are arranged in the order of the first suction nozzle assembly 10a and the second suction nozzle assembly in this order from the front side in the Y-axis direction and from the left side to the right side in the X-axis direction. 10b, the third suction nozzle assembly 10c, the fourth suction nozzle assembly 10d, the fifth suction nozzle assembly 10e, and the sixth suction nozzle assembly 10f, from the back in the Y-axis direction and from the left in the X-axis direction to the right In order, a seventh suction nozzle assembly 10g, an eighth suction nozzle assembly 10h, a ninth suction nozzle assembly 10i, a tenth suction nozzle assembly 10j, an eleventh suction nozzle assembly 10k, a twelfth suction nozzle assembly 10l, To do. Also, a plurality of component supply cassettes 80 are arranged in the component supply unit 8A (or 8B) with a constant interval pitch L along the X-axis direction in the drawing. Further, the fixed interval pitch Px in the array of the respective suction nozzle assemblies 10 may be a dimension that is an integral multiple or a fraction of an integer of the fixed interval pitch L in the array of the respective component supply cassettes 80. In the embodiment, the interval pitch Px and the interval pitch L have the same dimensions. In the following description, when the first suction nozzle assembly 10a to the twelfth suction nozzle assembly 10l are not specified and used, they are simply indicated as “suction nozzle assembly 10”.

  The first suction nozzle assembly 10a to the twelfth suction nozzle assembly 10l have substantially the same structure, and are provided with a casing 46 and a ball spline nut 53a provided above the first head portion 4. The cylinder 53 is movable in the axial direction and is held so as to be rotatable about the axis. As will be described later, the suction nozzle assembly 10 is configured to be movable up and down in the axial direction (Z-axis direction) by an actuator 40 provided in the casing, and so as to be able to rotate θ around the axis. A spline shaft 44 is provided.

  FIG. 4 is a partially enlarged cross-sectional view showing the configuration of the tip portion of the suction nozzle assembly. As shown in FIG. 4, the tip portion of the suction nozzle assembly is provided with a nozzle portion 39 for sucking and holding components, and is held by a holder 31 fixed to the tip side of the spline shaft 44. The holder 31 is a hollow cylindrical member, and is fixed to this in a state of penetrating the spline shaft in the axial direction thereof. In the hollow portion 32 of the holder 31, a nozzle spring 34 is inserted around a spline shaft 44 extending inside thereof, and an insertion portion 33 of the nozzle portion 39 is inserted and guided by the spline shaft 44. It is slidably held. Since the upper end 33 a of the insertion portion 33 is in contact with the nozzle spring 34, the nozzle portion 39 is urged downward by the nozzle spring 34. Further, the nozzle portion 39 is provided with a relief stroke as shown by an arrow, and when a downward stress is applied to the nozzle portion 39 when holding or mounting a component, the nozzle spring 34 is deformed and the nozzle portion 39 is deformed. 39 is configured to move upward so that excessive stress is not applied to the parts to be held and mounted.

  As will be described later, the nozzle portion 39 sucks air when holding a component, so that surrounding dust is sucked into the nozzle portion 39. Therefore, dust accumulates in the nozzle part 39 with the passage of time, and as a result of moving around the sliding surface 35 between the insertion part 33 and the holder 31, the nozzle part 39 may be poorly slid. If the sliding failure occurs, the sliding friction may exceed the spring force, and the nozzle may remain in an upward escape state. In this state, the stress applied to the component increases. Therefore, as described later, the component mounting apparatus according to the present embodiment has a configuration for detecting this state using the load cell 12.

  Further, as shown in FIG. 2, the nozzle portion 39 is in a state where the holding surface 11 a that is the tip portion is exposed from the lower frame 53 b that is the lower portion of the outer cylinder 53. The lower frame 53 b is provided with a detection device including a light projector 60 and a light receiver 61 for detecting the position of the tip of the nozzle portion 39. A specific configuration of the detection device will be described later.

  As shown in FIGS. 2 and 3, each suction nozzle assembly 10 includes a spline shaft 44, a nozzle portion 39 provided at the lower end of the spline shaft, and a drive unit integrally formed coaxially with the spline shaft 44. A shaft 45 and a timing pulley 41 for rotating the suction nozzle assembly 10 by θ are provided.

  The drive shaft 45 functions as a movable shaft of the actuator 40 for moving the suction nozzle assembly 10 up and down, and a cylindrical permanent magnet having magnet poles at both ends is opposed to the same pole. It fixes by arranging two or more. The timing pulley 41 is connected to the spline shaft 44, and both can move relative to each other in the Z-axis direction and are restricted from moving in the rotational direction around the Z-axis. As shown in FIG. 5, a timing belt 43 is engaged from the timing pulley 41 of the first suction nozzle assembly 10a to the timing pulley 41 of the sixth suction nozzle assembly 10f. By engaging the timing belt 43, the first suction nozzle assembly 10a to the sixth suction nozzle assembly 10f can be simultaneously rotated by θ (rotation around the axis of the suction nozzle assembly 10). .

  Similarly, another timing belt 43 is engaged from the pulley of the seventh suction nozzle assembly 10g to the timing pulley 41 of the twelfth suction nozzle assembly 10l, whereby the seventh suction nozzle assembly 10b The twelfth suction nozzle assembly 10l can be simultaneously rotated by θ.

  Further, as shown in FIG. 3, each actuator 40 is constituted by a shaft-type linear motor, and the corresponding suction nozzle assembly 10 is moved up and down by the shaft-type linear motor to selectively hold or hold parts. Component mounting operation can be performed. Further, the shaft type linear motor can detect the position of the nozzle assembly in the vertical direction by detecting the magnetic pole of the permanent magnet provided in the nozzle assembly 10. The specific configuration of the shaft type linear motor and the position detection of the nozzle assembly will be described later. The lifting mechanism of each suction nozzle assembly 10 uses a mechanism using a ball screw shaft and a nut, which is a commonly used mechanism, or an air cylinder, in addition to a mechanism using a linear motor described below. In addition to the method according to the following embodiment, a known method using a linear guide, a linear scale, a ball screw rotation angle control, or the like is used for detecting the vertical position of the nozzle assembly. It goes without saying that it can be done.

  Next, a shaft type linear motor as an actuator of the first head unit 4 and the second head unit 14 will be described. The shaft-type linear motor is provided in the drive shaft 45 configured coaxially with the spline shaft 44 of the suction nozzle assembly 10 and the housing 46 of the first head portion 4 and the second head portion 14, and is positioned with the coil 48. And a stator 47 having a detection magnetic pole sensor 49. The drive shaft 45 has a plurality of cylindrical magnets arranged so that their south poles and north poles face each other, and air suction holes are formed in the hollow portions.

  As shown in FIG. 6, the housing 46 has a hollow rectangular parallelepiped shape having a sufficient thickness for mechanical strength, and is made of a nonmagnetic material, for example, a plastic material.

  Each of the driving permanent magnets 45a is a hollow cylindrical permanent magnet having an equal length, and both axial ends thereof are S and N poles. The drive permanent magnet 45a is arranged on the drive shaft 45 so that the S pole and the N pole face each other.

  The stator 47 is formed by laminating a plurality of coils each having a circular hole into which the driving shaft 45 can be inserted at the center so that the holes overlap in the Z-axis direction. It is formed as an insertion hole. The coil 48 is positioned in the stator 47 so as to face the permanent magnet 45a when the driving shaft 45 is received in the through hole.

  Sensor units 49a and 49b composed of two magnetic pole sensors 491 and 492 arranged side by side in the axial direction are provided below the bearings on the lower side of the laminated coils shown in the figure (FIGS. 7A and 7B). 7B shows the case of a solid shaft). The magnetic pole sensors 491 and 492 used in the two sensor units 49 a and 49 b detect the magnetic field of the driving permanent magnet 45 a based on the position of the driving shaft 45. In this embodiment, an MR sensor (Magnetoresistance Sensor), which is made of a permalloy alloy and changes its electric resistance by a magnetoresistive effect when a magnetic field is applied, is supplied with a constant current. Therefore, by passing a current through the MR sensor and measuring the change in the voltage, the change in the magnetic field can be detected, and the position of the drive shaft 45 relative to the stator can be detected.

  As shown in FIG. 7A, the two magnetic pole sensors 491 and 492 constituting the sensor units 49a and 49b are arranged at an interval approximately half the axial dimension of the permanent magnet 45a incorporated in the drive shaft 45, respectively. Yes. As a result, in the state of FIG. 7A, when one magnetic pole detection sensor 492 detects a substantially maximum magnetic field strength, the other magnetic pole detection sensor 491 can detect a substantially zero magnetic field strength. The position detection of the drive shaft 45 by the sensor units 49a and 49b and the detection method thereof will be described later.

  Each suction nozzle assembly 10 is configured to be moved up and down in the Z-axis direction by a shaft type linear motor 40, while the suction nozzle assembly 10 is illustrated by a spring 52 so that the suction nozzle assembly 10 is not lowered by gravity. It is held in a state biased in the direction. The spring seat 55 that receives the spring 52 also functions as a stopper that comes into contact with the lower end of the stator 47 when the drive shaft is at the origin, and prevents the drive shaft from further rising. A method for detecting the origin of the driving shaft will be described later.

  FIG. 8A is a block diagram of a control circuit for drive control and position detection of the shaft type linear motor 40 schematically shown. As shown in FIG. 8A, the servo controller servo amplifier 110 that controls the drive of the shaft type linear motor 40 constitutes a part of the mounting control device 100, and includes an amplifier unit 112 and a controller unit 111. . The amplifier unit 112 receives, for example, an operation command signal input from the host controller 100a in the control arithmetic unit 100 of the mounting control apparatus 101, and supplies power to the coil 48 of the stator 47 through the power line. The drive current output from the amplifier unit 111 of the servo controller servo amplifier 110 causes a current to flow through the coil 48, and a repulsive force acts between the coil 48 and the north or south pole of the drive permanent magnet 45a. 45 moves along the stator 47 in the predetermined Z-axis direction.

  The controller unit 111 of the servo controller servo amplifier 110 includes a cycle counter 113, a resolution performance table 114 for each cycle, a pulse signal receiver 115, and a calculator 116. The cycle counter 113 divides a magnetic field cycle, which will be described later, into a plurality of pulses (in the present embodiment, 1000 will be described for convenience of description) in order to detect where the drive shaft 45 exists in the drive cycle. The period resolution table 114 is data for storing the length of each period of the magnetic field provided in the drive shaft, and will be described later. This is used for position detection correction based on the fact that the magnetic field periods provided in the driving period are not completely the same.

  As the drive shaft 45 moves along the stator 47, the drive permanent magnet 45 a provided on the drive shaft 45 is replaced with a magnetic pole sensor 491 of the sensor units 49 a and 49 b provided on the stator 47. , 492. As described above, if the length in the Z-axis direction of the driving permanent magnet 45a is 4 mm, for example, the N and S poles are formed every 4 mm, so the magnetic field cycle is 8 mm. As the drive shaft moves, the resistance values of the magnetic pole sensors 491 and 492 change as the relative positions of the magnetic pole sensors 491 and 492 and the permanent magnets change.

  Since a constant current flows through the magnetic pole sensors 491 and 492, when the driving permanent magnet 45a moves, magnetic field intensity signals are output from the magnetic pole sensors 491 and 492 according to the magnetic field strength of the magnetic field period, respectively. / D conversion circuit 110 is input. The magnetic field strength signals output from the magnetic pole sensors 491 and 492 take a substantially sinusoidal locus, similarly to the magnetic field strength of the magnetic field period. The A / D conversion circuit 110 A / D converts and amplifies the magnetic field strength signal and inputs the amplified signal to the pulse signal receiving unit 115. The pulse signal reception unit 115 generates a predetermined digital signal by shaping the waveform of the digital signal that is continuously input, and outputs the digital signal to the calculation unit 116. The computing unit 116 detects the origin of the driving shaft 45 and calculates the position based on the value of the input waveform-shaped digital signal as described below.

  The origin detection method will be described below. In the present embodiment, when the drive shaft 45 moves upward and the spring seat 55 contacts the lower end of the stator 47, the current value applied to the coil is changed and the current value is detected. By doing this, the origin is detected. That is, as shown in FIG. 10B, the drive shaft 45 moves upward, and at the point A in the figure, the spring seat 55 comes into contact with the lower end of the stator 47 and cannot move upward any further. At this time, as shown in FIG. 8B, the value of the current applied to the coil rises at the point A because it tries to move the shaft even though the shaft cannot move.

  The servo controller servo amplifier 110 detects the origin based on the position of the drive shaft existing when the current value starts to rise and exceeds the threshold value, and the drive shaft based on the position as shown below. Detect the position of. At this time, since the drive shaft 45 is stopped, the output value output from each magnetic pole sensor shows a constant value. Therefore, by adding this requirement to the condition for detecting the origin, more stable detection can be performed. It becomes possible.

  In the present embodiment, as shown in FIG. 8C, the drive shaft 45 moves upward and the spring seat 55 comes into contact with the lower end of the stator 47, so that the current value exceeds the threshold value and the two When it is detected that the output of the magnetic pole sensor does not change, the drive shaft 45 is controlled to descend from the position. Then, the output of one of the magnetic pole sensors 491 and 492 (in the figure, it is not necessary to distinguish between the two sensors, and is represented as the first or second magnetic pole sensor) is initially 0. The new position is the origin.

  As another method for determining the origin position, as shown in FIG. 8D, the drive shaft 45 moves upward, and the spring seat 55 is applied to the coil at a position where it contacts the lower end of the stator 47, that is, the coil. The position where the drive shaft 45 exists when the current value starts to rise may be used as the origin.

  Next, a specific detection calculation example of the position detection of the drive shaft 45 will be described with reference to FIG. 9A. In FIG. 9A, if the length of the driving permanent magnet 45a in the Z-axis direction is 4 mm, the distance H between the N poles is 8 mm. Assuming that the drive shaft 45 moves downward in the Z-axis direction in FIG. 9A, the two magnetic pole sensors 491 and 492 each have a magnetic field strength as a voltage (in this embodiment, between −5V to + 5V). The output signal is an approximately sine wave magnetic field strength signal as shown in FIG. 9B. Here, since the two magnetic pole sensors 491 and 492 are arranged with an interval of approximately half of the length of one driving permanent magnet 45a in the Z-axis direction, that is, with an interval of 2 mm, the output magnetic field The phase of the sine wave of the intensity signal is shifted by π / 2.

  Here, the measurement resolution of the voltage value (vertical direction in FIG. 9B) of the A / D conversion circuit 110 that converts the magnetic field strength signals output from the two magnetic pole sensors 491 and 492 into digital values is ± 500, and the magnetic field period direction Assuming that 1000 (in the horizontal axis direction in FIG. 9B) is 1000, the resolution of detection accuracy is every 8 mm / 1000 = 8 μm.

  Here, in FIG. 9B, a case where the signals are output from the two magnetic pole sensors 491 and 492 will be described. In order to detect the position of the drive shaft 45, the position of the drive shaft 45 is detected based on the movement distance from the origin. That is, as described above, the drive shaft is moved to the origin detected by detecting the current value applied to the coil, and is moved in the downward direction in the figure. At this time, each detection point is a point that takes the same output value as the output value at the origin position of the magnetic pole sensors 491 and 492 (in FIG. 9B, the output of the sensor 491 is 0 and the output of the sensor 492 takes the maximum value). As the first detection point, the second detection point,... One magnetic field period is defined between the origin and each detection point.

  The resolution table 114 for each period stores resolution information for each period direction pulse number as shown in FIG. 9C. As described above, in the present embodiment, since the resolution in the magnetic field periodic direction is 1000, one cycle, that is, a value obtained by dividing the total length of two magnets by 1000 is the resolution of one pulse. Further, although the drive permanent magnet 45a incorporated in the drive shaft 45 is configured to have substantially the same length in the Z-axis direction, there may be a variation in length during processing, which is a variation in the magnetic field cycle. It becomes. Since this variation is cumulatively added as the distance from the origin increases, the accuracy of position detection at a position far from the origin deteriorates. Therefore, in order to correct this variation in period length, information on the length of each period is stored in the resolution table 114 for each period of the magnetic field. In FIG. 9C, when the first cycle has a cycle length of 8.1 mm and the resolution of one pulse is 8.1 μm, the second cycle has a cycle length of 8.2 mm and the resolution of one pulse is 8.2 μm. Is illustrated.

  Here, when each output value of the magnetic pole sensors 491 and 492 is an output as indicated by a point B in FIG. 9B (for example, the output of the magnetic pole sensor 491 is −2 V and the output of the magnetic pole sensor 492 is +2 V), Thus, since it passes through the first detection point, it turns out that the point B is a point located in the second period. As for point B, as shown in FIG. 9D, the in-circle angle ATTN is (−2/2) × (180 / π) = − 45 degrees, and the output of the magnetic pole sensor 491 is negative. 45 = 135 degrees. Therefore, from the waveform of the magnetic pole sensor, the point of Z1 is a position of 270 degrees and rotates counterclockwise from the point, so that the detection position is a period length of 8.2 mm × (225 degrees / 360). Degrees) = 5.125 mm, which means that the position has moved by 5.125 mm with reference to the start position of the second period, that is, the first detection point.

  In addition, since the drive shaft 45 moves over one cycle, the first cycle length (that is, the length of two drive permanent magnets) is set at a distance with respect to the first detection point as 8. Add 1 mm. Therefore, the movement distance from the origin is output as 13.225 mm.

  Note that the period length of the magnetic field applied during the calculation of the movement distance may be calculated as the length of two driving permanent magnets instead of preliminarily storing it as table data as described above.

  As described above, the first head portion 4 and the second head portion 14 guide the drive shaft 45 by the bearings 50 a and 50 b provided above and below the coil 38 so that the axis thereof coincides with the central axis of the coil 38. Therefore, the drive shaft 45 is configured not to be displaced in the X axis direction and the Y axis direction in the stator 47. Therefore, even when the suction nozzle assembly 10f is rotated about its axis by the θ rotation motor 42a, the gap between the sensor unit and the drive permanent magnet 45a incorporated in the drive shaft 45 is as described above. It is configured to be substantially constant, and the moving distance of the drive shaft 45 can be detected by the sensor unit 49a having the two magnetic pole sensors 491 and 492 as described above.

  Next, a mechanism for detecting the nozzle portion 39 provided at the tip of the suction nozzle assembly 10 will be described. FIG. 10A is a schematic plan view showing a positional relationship between the detection device and the nozzle portion. FIG. 10B is a schematic side view showing the positional relationship between the detection device and the nozzle portion 39b. In the present embodiment, the position of the nozzle portion 39 is detected by detecting by the light receiver 61 that the tip of the nozzle portion 39 blocks the light from the light projector 60.

  As shown in FIG. 10, two sets of the projector 60 and the light receiver 61 are arranged along the arrangement direction of the six suction nozzle assemblies arranged in the X-axis direction. 10A, the lower projector 60 and the light receiver 61 in the figure detect the suction nozzle assemblies 10a to 10f, and the upper projector 60 and the light receiver 61 in the figure detect the suction nozzle assemblies 10g to 10l. Also, as shown in FIG. 10B, the light L emitted from the projector 60 is one of the six nozzle portions 39 (in FIG. 10B, the suction nozzle assembly) in the optical path until it reaches the light receiver 61. 10f) is shielded from light and cannot reach the light receiver 61. Therefore, the position of the nozzle portion 39 in the Z-axis direction can be detected.

  In the present embodiment, the light emitter 60 uses a light emitting LED as a light source, and the light receiver 61 uses a CCD line sensor. The CCD line sensor is arranged so as to extend in the Z-axis direction, and the resolution is about 64 μm.

  Next, a process for detecting the position of the nozzle will be described. FIG. 11A is a block diagram of a control circuit for detecting the position of the nozzle portion. The control circuit for detecting the position of the nozzle part constitutes a part of the control circuit in the control calculation unit 100, and includes a detection calculation unit 117, a projector 60 and a light receiver 61 for calculating the detection position. A sensor controller 118 that controls and processes the CCD output signal from the light receiver 61 is provided. Further, the control circuit for driving and controlling the shaft type linear motor shown in FIG.

  In detecting the position of the nozzle portion, it is a precondition that all nozzle heights are the same. For this reason, it is requested | required that the height of a nozzle may be made the same with the following procedure. FIG. 19 is an explanatory diagram of the height adjustment of the nozzle. In the nozzle height adjustment, an adjustment jig nozzle 39x and an inspection jig 39r for setting a height reference are used. The jig nozzle is a nozzle that has no escape in the vertical direction. First, the inspection jig 39r is installed on the upper surface 16u of the mounting apparatus base 16 of the mounting apparatus 101, and the jig nozzle 39x is mounted on the nozzle portion. In the mounting apparatus, the mounting height that is the nozzle lowering position when the component is sucked and taken out from the component supply unit by the nozzle, and the mounting height that is the nozzle lowering position when the component is mounted on the board are the mounting apparatus base 16. Therefore, the position from the upper surface 16u needs to be detected.

  As a detection operation, first, the jig nozzle 39x is pressed against the upper surface of the inspection jig 39r. Information on the height from the reference plane (that is, the height of the inspection jig) is assigned to the encoder value of the servo controller amplifier 110, which is the position information of the nozzle height at this time, and is stored in the host controller 100a. When the inspection of the position information for one nozzle is completed, the same inspection is performed for all nozzles. Through the above process, the encoder values of the respective actuators at a common reference height are obtained for all the nozzles, and based on this information, the nozzles can be positioned at arbitrary positions from the reference plane as shown below. .

  Next, the position detection of the nozzle part will be described. In the present embodiment, the position of the nozzle portion is detected by the output value from the CCD line sensor of the light receiver 61. That is, since the output value of the CCD line sensor differs depending on the area where the nozzle unit 39 shields the CCD line sensor, the position of the nozzle unit 39 is detected by detecting the output value. However, since the nozzle portion 39 has a different distance in the X-axis direction from the light emitter 61, even if the nozzle portion 39 is at the same Z-axis direction position due to the influence of the diffusion of the light L, depending on the X-axis direction position of the nozzle. The output values from the CCD line sensor are different. In order to solve this problem, the nozzle correction value 119b indicating the relationship between the output of the CCD line sensor for each nozzle unit and the Z-axis position of the nozzle is stored in the storage unit 119, and the information of the nozzle correction value 119b is used to store the nozzle. Detect position.

  FIG. 12A is a flowchart showing a flow of processing for determining a nozzle correction value for nozzle position detection. First, the number N of nozzles detected by one CCD line sensor is set (# 10). In the present embodiment, 6 is set as N in order to detect the position of the six nozzle portions by one projector 60 and light receiver 61 as described above.

  Next, the setting of the correction value for the first nozzle is started (# 11). First, a sampling point Smax is set for each nozzle (# 12). The sampling point number Smax is the number of reference positions of the output value of the CCD line sensor in the detection area of the CCD line sensor, and can be set fluidly depending on the width of the detection area, the CCD resolution, etc. In order to obtain the inclination of the calibration curve and the approximation accuracy of the intercept with high accuracy, it is preferably approximately five. In this embodiment, the description is continued as 5.

  When the sampling point number Smax is determined, as shown in FIG. 12B, the sampling interval Len is calculated by dividing the detection area of the CCD line sensor by the sampling point number Smax (# 13). Next, detection at the first sampling point for the first nozzle section 39 is started (# 14).

  Specifically, the first nozzle (here, the correction value of the position of the nozzle portion of the suction nozzle assemblies 10a to 10f is set, and the correction is performed in order from the suction nozzle assembly 10a). Move to position (# 15). This position is set as a position below a predetermined distance from the origin of the drive shaft 45 described above. That is, the tip position of the nozzle portion 39 is determined by the position of the drive shaft 45, and the start position of the nozzle portion 39 can be set. Therefore, if the size of the nozzle portion 39 is different, the position of the drive shaft 45 when the tip is at the start position is different.

  The sensor controller 118 detects the output value D (1) of the CCD line sensor of the light receiver 61 when the nozzle unit 39 is at the start position (# 16). The output value D (1) is transmitted from the sensor controller 118 to the detection calculation unit 117 and temporarily stored.

  Next, the sampling point to be detected is incremented by one (# 17), and the sensor output D (2) at the second sampling point is detected. Such processing from # 16 to # 19 is repeated to detect all sampling points. At this time, it is determined whether the sampling point to be detected is the maximum value of the sampling point (# 18). If there is a sampling point to be detected next, the drive shaft is lowered to lower the nozzle portion 39. 45 is moved down by the sampling interval (# 19). When sensor output values D (1) to D (5) for all sampling points are obtained, the detection calculation unit performs an approximate calculation (# 20).

  As shown in FIG. 13, the approximation calculation performs linear approximation that approximates the sensor output values D (1) to D (5) for all the sampling points obtained as described above. That is, when the X axis is the position of the driving shaft 45 and the Y axis is the output value of the CCD sensor, the slope of the calibration curve (Y = aX + b) is linearly approximated from the sensor output values D (1) to D (5). (A) and intercept (b) are calculated to obtain information on the expression of the linear function. At this time, the height position at which the sensor output is a predetermined value is set as the sensor origin. In this embodiment, the calibration curve is linearly approximated because the light from the light emitter 60 is parallel and the mounting angle of the CCD line sensor is perpendicular to the incident direction of the light. This is because the ratio of the distance and the output value of the sensor is 1: 1, but if the light source is not parallel or the mounting angle is not vertical, the proportional relationship is 1: a. However, when there is an influence of the aberration of the lens provided in the light emitter 60 or the light receiver 61, a proportional relationship is not established, and therefore a second-order or third-order approximation can be used. The approximation processing can be omitted by measuring the sensor output at all sampling points using the accuracy (CCD resolution) as the output of the CCD line sensor as the sampling interval.

  After repeating these processes, the second nozzle (nozzle part 39 of the suction nozzle assembly 10b) is measured (# 21), and when all the nozzles are measured (Yes in # 22), the nozzle Information on the equation of the calibration curve for each nozzle is stored in association with the suction nozzle assembly 10 as information on the nozzle correction value 119b for each nozzle.

  Information on the nozzle correction value 119b obtained in this way is used when various states of the nozzle portion are detected when the component mounting apparatus according to the present embodiment is automatically operated. Specifically, (1) by always measuring the height of the nozzle part during automatic operation, information on the height of the nozzle part can be fed back at the time of suction and mounting. (2) It is possible to determine a nozzle with a defective nozzle height (for example, when the tip of the nozzle is bent). (3) It is possible to determine whether or not the sliding escape failure is above the nozzle portion. (4) It is possible to detect the holding posture of the component (determination of how the sucked component is held). (5) It is possible to determine whether or not a component is brought home during mounting.

  How these determinations are made will be described below. FIG. 14 is a flowchart of the suction / mounting operation during automatic operation of the component mounting apparatus according to the present embodiment. This flowchart is a description of processing for sucking and mounting components. As a premise, it is assumed that the component library 119a is stored in the storage unit 119 as size information such as the thickness of the component, and the suction nozzle assembly 10 It is assumed that the information of the nozzle correction value 119b for the nozzle attached to is already known.

  In the component mounting apparatus according to the present embodiment, during automatic operation, the Z-axis direction position where a nozzle that is not driven is waiting is high enough to prevent the light projector 60 and the light receiver 61 from being shielded from light.

  FIG. 20 is a timing chart regarding the vertical drive of the nozzle of the mounting apparatus, the nozzle height, and the nozzle lifting speed.

  In the mounting process of the component mounting apparatus according to the present embodiment, as shown in FIG. 20, the component is first sucked (# 30). The component is picked up by moving the X-axis and Y-axis directions above the component mounting the nozzle portion 39 of the suction nozzle assembly 10 specified to suck the component, and then driving the linear motor in the Z-axis direction. The nozzle part 39 is lowered by a predetermined width, and the components are sucked and held from the nozzle part 39. The distance by which the nozzle portion 39 descends to suck the component is the total distance of the height Hg from the standby position of the nozzle to the component supply portion non-interference range Hf and the component suction surface. Here, the component supply unit non-interference range Hf is lowered to the component supply height (equal to the mounting surface height) of the component supply unit when the nozzle descends to take out the component to the component supply unit. On the component supply unit, if the nozzle is lowered to the component supply unit non-interference range Hf in advance, even if the nozzle moves in the XY direction on the component supply unit, there is no limit to the nozzle. Means.

  When the nozzle unit 39 passes through the detection range Hc during the lowering of the nozzle unit 39 at this time, the nozzle unit 39 blocks the light from the projector, and the output value of the CCD line sensor is determined as described above. The position of the drive shaft 45 is measured at the timing when the output value at the origin of the nozzle correction value 119b has been set. Using the measured position of the driving shaft 45 as a reference, the nozzle portion 39 is lowered by a predetermined width Hg to the component holding position. At this time, the movement amount of the descending width of the nozzle portion 39 is detected and controlled by detecting the position of the drive shaft 45 by the position detecting magnetic pole sensor 49. That is, since the origin at the nozzle tip is known from the nozzle correction value 119b, the nozzle unit 39 is lowered by the distance between the components calculated from the distance based on the position of the drive shaft 45.

  Next, a nozzle height positioning operation is performed (# 31). As shown in FIG. 15, the nozzle height positioning operation is performed by referring to the nozzle correction value 119b so that the lower end of the component 200 sucked by the nozzle coincides with the sensor measurement origin R. The position is controlled, and the position of the driving shaft 45 is calculated. Specifically, the nozzle portion that holds the component by suction is once moved upward to the standby position, and the nozzle is lowered one by one from that position, and the output value of the CCD line sensor becomes the output value at the origin of the nozzle correction value 119b. At the same timing, the position of the drive shaft 45 is measured.

  When the nozzle height correction (# 31) is completed, the component height detection process, that is, the determination of whether or not the component suction holding posture in the Z-axis direction is appropriate is performed. That is, the information on the thickness dimension of the component sucked by the nozzle is read from the component library 119a, and the difference between the height position of the drive shaft 45 in the nozzle height correction and the height position at the nozzle origin is compared. If the value is equal to or greater than the predetermined value, it is determined that the nozzle unit 39 does not suck and hold the component in an appropriate direction. That is, as shown in FIG. 16, when the nozzle unit 39 properly holds and holds the component, the nozzle height bonded operation nozzle is compared with the case where the tip of the nozzle unit 39 coincides with the sensor measurement origin R. The height position of the drive shaft 45 measured by the height positioning operation is increased by the thickness dimension of the component 200. Therefore, by measuring the height dimension of the drive shaft 45 measured by the nozzle height positioning operation, it is possible to determine the holding state of the component sucked by the nozzle.

  Specifically, when the measured thickness of the suction component 200 is measured, the measured thickness data is sent to the host controller 100a. On the other hand, the component number of the component sucked from the controller (not shown) of the component mounting apparatus main body is read at the same time, and the upper controller 100a refers to the component library 119a stored in advance, and the corresponding thickness for each component. Load standard data. The data of the two thicknesses are compared by the host controller 100a, and if the measured component thickness is larger than a predetermined value determined in advance by the component, a determination result of suction failure is output.

  When it is determined that the suction holding is appropriate (Yes in # 32), the first head unit 4 moves so that the nozzle on which the component 200 is sucked comes to the information of the recognition camera 9, and the suction posture of the component To determine whether the suction holding posture in the XYθ direction is appropriate (# 33). That is, in the present embodiment, since the projector 60 and the light receiver 61 detect the X-axis direction, only the thickness dimension of the component (that is, the Z-axis direction) can be measured, and the X-, Y-, and θ-directions can be measured. It is not possible to detect a component adsorption deviation. Therefore, in order to mount the component at an appropriate position, the recognition camera 9 detects the holding position and the θ rotation. Also in this determination, the component library 119a is referred to detect the corresponding X and Y direction dimensions and θ rotation angle for each component, and if the predetermined allowable range is exceeded, it is determined that the suction is defective. The result is output.

  If it is determined that the suction holding posture (# 32) of the component in the Z-axis direction and the suction holding posture (# 33) in the XYθ direction are not appropriate, the component sucked by the nozzle is discarded ( # 40).

  Of the nozzles 39 provided in the head unit 4, when there are a plurality of nozzles 39 for sucking and holding components in this process, the above process is repeated, and the components are sucked and held appropriately for all the predetermined nozzles. Let If it is determined that the suction holding of the component 200 is appropriate for all the nozzle portions 39 in the XYZθ directions, the mounting of the component 200 is started (# 35). At this time, if the component mounting direction is changed as necessary, the suction nozzle assembly 10 is rotated by θ before mounting (# 34).

  In component mounting (# 35), the head unit 4 is moved to a predetermined position in the XY direction by the XY robot 5 and is adsorbed to the tip of the nozzle unit 39 while correcting the mounting height to the board 2 and the XY mounting coordinate position. The held component 200 is mounted at a predetermined position on the board.

  When the component mounting is completed, the nozzle height positioning operation is performed again (# 36). That is, the lower end of the nozzle portion 39 during the movement of moving upward from the state where the nozzle portion is lowered to mount the component on the board to the standby position (the lower end of the component 200 is caused when the component is taken home due to a mounting error described later). At the timing when coincides with the sensor measurement origin R, the height position of the drive shaft 45 is measured, and the position of the drive shaft 45 is calculated.

  Next, the position of the drive shaft 45 measured in step # 36 is compared with the position of the drive shaft at the start of mounting to detect the height (# 37), and the tip of the nozzle portion 39 of the suction nozzle assembly 10 is detected. Is determined to be in the proper position. That is, it is determined whether or not the difference between the position of the drive shaft 45 measured in step # 36 and the position of the drive shaft at the start of mounting is within an appropriate range.

  When it is within the appropriate range (Yes in # 37), the first head unit 4 moves the nozzle on which the component 200 is attracted to the imaging position of the recognition camera 9, and images the nozzle unit 39 to detect the component. A determination is made as to whether or not the nozzle portion 39 holds (# 38). That is, if the part 200 is brought back due to a mounting error and the nozzle rises (for example, due to a sliding failure) at the same time, even if the part is brought back, it is determined that it is within the proper range in # 37. Therefore, it is confirmed whether the component is held by the nozzle by taking an image from the side where the nozzle portion 39 is provided. If it is determined that no parts remain (No in # 38), the production continuation determination is subsequently performed (# 39).

  In the production continuation determination, the production condition data is referred to and it is determined whether the production is continued or stopped. The production condition data is stored in the storage unit of the component mounting apparatus according to the present embodiment, and the following production conditions are stored. That is, when the nozzle tip abnormality (# 44) is detected, the equipment is stopped, or the suction nozzles other than the suction nozzle assembly 10 that has become a defective nozzle among the suction nozzle assemblies 10 constituting the head unit 4. When the assembly 10 continues production or when a component is sucked in a state where the component holding posture is poor, how many times the nozzle is determined to be a defective nozzle. If it is determined in the production continuation determination process that production is to be continued, the operation proceeds to the next component mounting operation (# 48).

  Next, a case where it is determined that there is a defect in the above-described component adsorption / mounting flow will be described individually.

  First, in FIG. 14, when it is determined that the holding postures in the Z direction and the XYθ direction are not appropriate (No in # 32 and # 33), the component 200 adsorbed on the nozzle portion 39 is discarded ( # 40). Next, a retry is stored (# 41). That is, the fact that the nozzle unit 39 could not hold the component in an appropriate posture is added to the production condition data and used as a reference in the production continuation determination. When the storage is completed, the production condition is determined (# 39), and the process proceeds to the next process (# 48).

  Next, the case where it is determined in FIG. 14 that the tip of the nozzle portion 39 of the suction nozzle assembly 10 is not in the proper position (No in # 37) will be described. That is, as described above, it is determined that the difference between the position of the drive shaft 45 measured in step # 36 and the position of the drive shaft at the start of mounting is not within the proper range. In this case, it is first determined whether or not the position of the drive shaft 45 measured in step # 36 is above the position of the drive shaft at the start of mounting (# 42).

  That is, when it is determined that the position of the drive shaft 45 measured in step # 36 is higher than the position of the drive shaft at the start of mounting (Yes in # 42), the suction nozzle assembly 10 This is a case where a component remains at the tip of the nozzle portion 39, and it is determined that the component has been taken home due to a mounting error, and a signal indicating that the take-away has occurred is output. Next, when the output is received, the component is discarded (# 40) and a retry is stored (# 41). Further, the production conditions are determined (# 39), and the process proceeds to the next process (# 48).

  If it is determined that the position of the drive shaft 45 measured in step # 36 is below the position of the drive shaft at the start of mounting (No in # 42), it is an abnormal tip of the nozzle portion 39. to decide. As a specific example of the abnormal tip of the nozzle part 39, there is a case where the tip of the nozzle part 39 is bent or bent, and the nozzle part 39 cannot return to its original position from the upward escape due to a sliding failure. In this case, the nozzle failure flag is turned ON (# 45).

  Finally, in the processing when the parts are discarded (# 40) and when the nozzle failure flag is turned on (# 45), the production continuation determination is made and it is determined not to continue the suction and mounting of the parts. The case (# 39) will be described. As described above, the production continuation determination refers to the production condition data to determine whether the production is to be continued or stopped. If it is determined that the production is to be stopped individually, an NG message is displayed (# 46). Stop automatic operation of the component mounting equipment. If the nozzle failure flag is ON, the process proceeds to load cell measurement processing to check the state of the nozzle portion (# 47).

  The load cell measurement will be described. FIG. 17 is a block diagram of a control circuit for performing load cell measurement. The control circuit for performing load cell measurement constitutes a part of the control circuit in the control calculation unit 100, and includes a detection amplifier 120 for calculating an output value from the load cell. Further, the control circuit for driving and controlling the shaft type linear motor shown in FIG.

  In the load cell measurement, it is determined whether or not the nozzle portion has a sliding failure. Specifically, after moving the head unit 4 so that the suction nozzle assembly 10 is positioned above the load cell 12, the suction nozzle assembly 10 is lowered to lower the nozzle unit 39 onto the load cell 12. Measure the output value.

  As measurement conditions, an output value (static output) of the load cell when the nozzle unit 39 is gently lowered to the load cell 12 and an output value (dynamic output) under the same operating conditions as those during adsorption and mounting are measured. . As shown in FIG. 18A, the static output is a change with time in which the output value increases linearly, the rate of change of the output value changes at a predetermined value, and the output value increases linearly. In this case, the constant value of the point S shown in FIG. On the other hand, as shown in FIG. 18B, the dynamic output generally takes a large value at first and then changes with time so that it vibrates and finally the output value increases linearly. In this case, the maximum value of the T point and the constant value of the U point shown in FIG. In addition, in order to level | variate the measurement dispersion | variation, it is preferable to make these measured values into the average value of the measurement of multiple times (for example, 3-5 times).

  These three measured values are compared with a reference value 119c stored in the storage unit 119 in advance. The reference value 119c is an output value of the three load cells 12 measured in an initial state such as when the nozzle portion 39 is replaced. The reference value 119c is compared with the measured value, and it is calculated whether it is within a preset allowable range. When the measured value exceeds the allowable range, a signal indicating that the nozzle unit 39 is defective is output in the load cell measurement process.

  In addition, the execution timing of the load cell measurement process is executed as a process following the production continuation determination as shown in the embodiment, and the suction error occurrence rate exceeds a predetermined value every set time (for example, every 2 hours). When the nozzle unit 39 is replaced, the production condition data can be set at an arbitrary timing.

  As described above, according to the above-described embodiment, the position of the six nozzle portions can be detected by the pair of light projectors and light receivers, and a component mounting apparatus having a simple and inexpensive configuration can be obtained. In addition, since the nozzle correction value 119b is provided in consideration of the position difference in the optical axis direction, the detection can be performed with high accuracy for each nozzle portion.

  Further, by detecting the nozzle portion during the mounting operation, various problems such as breakage and bending of the nozzle portion and take-out of components due to mounting errors can be solved, and mounting accuracy can be improved.

  Further, by detecting the pressing force of the nozzle by both the dynamic output and the static output by the load cell, it is possible to detect the nozzle sliding failure with higher accuracy.

  In addition, this invention is not limited to the said embodiment, It can implement in another various aspect. In the above-described embodiment, when detecting the origin of the light receiver 61 (CCD line sensor) that detects the tip of the nozzle in detecting the state of the nozzle, the position of the nozzle 45 is detected by detecting the position of the driving shaft 45 in the sensor units 49a and 49b. The state detection is performed, but when the position of the drive shaft 45 detected by the sensor units 49a and 49b is at the inspection reference value for detecting the height of the nozzle, the light receiver 61 (CCD line). The height of the nozzle tip can be detected by a sensor). In this case, since the suction nozzle assembly varies depending on the distance from the light receiver, it is preferable to correct the height of the nozzle tip. For this reason, by measuring a jig whose thickness dimension is known in advance, each suction nozzle assembly is provided with a correction value, and based on the correction value, the thickness dimension of the component and the nozzle state are detected. It is preferable.

  Further, for example, in the above embodiment, the light receiver 61 uses a CCD line sensor, but may have other configurations. For example, a sensor that can measure only whether light is received or not can be used, and the nozzle portion can be detected based on the switching of light blocking.

1 is an overall schematic perspective view of a component mounting apparatus according to a first embodiment of the present invention. It is a perspective view which shows the external appearance structure of the 1st head part of the component mounting apparatus of FIG. FIG. 3 is a cross-sectional view in the Y direction of the first head portion of FIG. 2. It is a partial expanded sectional view which shows the structure of the front-end | tip part of the suction nozzle assembly used for the 1st head part of FIG. 3 is a θ rotation mechanism of the suction nozzle assembly of the first head portion of FIG. 2. FIG. 3 is a partially enlarged perspective view of a first head unit in FIG. 2. FIG. 3 is a partial enlarged cross-sectional view of an actuator of a first head unit in FIG. 2. It is a VII-VII sectional view of Drawing 7A. FIG. 2 is a block diagram of a control circuit for driving and controlling a shaft type linear motor used in the component mounting apparatus of FIG. 1 schematically shown. It is a graph which shows the locus | trajectory of the electric current value for detecting the origin of a drive shaft in the control circuit of FIG. 8A. It is a figure for demonstrating the example of the process of the origin detection of a drive shaft in the control circuit of FIG. 8A. It is a figure for demonstrating the example of the other process of the origin detection of a drive shaft in the control circuit of FIG. 8A. It is explanatory drawing of the mechanism of position detection of a drive shaft. It is an example of the output signal of each magnetic pole sensor of Drawing 9A. It is a structural example of the resolution table of each period. It is explanatory drawing of the angle in a circle used for the position detection of the shaft for a drive. It is a schematic plan view which shows the positional relationship of a detection apparatus and a nozzle part. It is a schematic side view which shows the positional relationship of a detection apparatus and a nozzle part. It is a block diagram of the control circuit for detecting the position of a nozzle part. It is a flowchart which shows the flow of the process for determining the nozzle correction value about the position detection of a nozzle. It is a figure explaining calculation of a sampling interval. It is a graph which shows the relationship between the shaft position for a drive used for an approximate calculation, and the output value of a CCD sensor. It is a flowchart of adsorption | suction and mounting operation | movement at the time of the automatic driving | operation of the component mounting apparatus concerning this embodiment. It is a schematic diagram which shows the movement position of the drive shaft in nozzle height positioning operation. It is a schematic diagram which shows the origin position of the drive shaft at the time of components non-holding. It is a block diagram of a control circuit for performing load cell measurement. It is a graph of a time-dependent change of a static output. It is a graph of a time-dependent change of a dynamic output. It is a figure which shows the state in the case of adjusting the height of a nozzle. It is a timing chart regarding the vertical drive of the nozzle of the component mounting apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Loader 2, 2-0, 2-1, 2-2, 2-3 Circuit board 3,13 1st board | substrate conveyance holding apparatus, 2nd board | substrate conveyance holding apparatus 4 1st head part 5, 15 XY robot 6a Y axis Drive unit 6b, 6c X-axis drive unit 7, 17 Nozzle station 8A, 8B, 8C Component supply unit 9, 19 Recognition camera 10 Adsorption nozzle assembly 12 Load cell 14 Second head unit 31 Holder 33 Insertion unit 34 Nozzle spring 35 Sliding Surface 39 Nozzle part 40 Actuator 41 Timing pulley 42a, 42b θ rotation motor 43 Timing belt 44 Spline shaft 45 Drive shaft 47 Stator 48 Coil 49a, 49b Sensor unit 53 Outer cylinder 53b Lower frame 60 Light projector 61 Light receiver 100 Mounting control device 101 Component Mounting Device 110a Host Controller 119 Storage Unit 19b nozzle correction value 119a parts library

Claims (3)

A plurality of movable parts each configured to be movable up and down and linearly arranged in a direction intersecting the vertical movement direction, and a nozzle configured to be respectively connected to the lower end of the movable part and hold a component. The nozzle member, a moving device that moves the plurality of nozzle members independently up and down, a height detector that can detect the vertical position of the movable portion of the nozzle member, and a straight line on which the nozzle members are arranged A light projector provided on one side of the nozzle with the nozzle interposed therebetween and a light provided on the other side of the plurality of nozzles provided on a straight line on which the nozzle members are arranged can receive light from the light projector A multi-nozzle component mounting head comprising:
The nozzle moving device is operated so that the plurality of nozzles are all retracted to the upper side of the optical path from the light projector so that the light receiver is in a light receiving state, and the nozzle moving device is operated to operate any one of the nozzle members. the lowered, the light receiver and the light shielding state tip of the nozzle intercepts the optical path, at the timing it is detected that the optical state shielding the light receiving state of the light receiver is switched by the tip portion of the nozzle, The vertical position of the movable part connected to the nozzle is measured by the height detector, and the descent and detection are repeated for all the nozzles existing between the light projector and the light receiver. detecting and a control arithmetic unit for controlling the operation of the array type nozzle the component mounting head as,
A part article mounting apparatus that having a,
Furthermore, the reference position information, which is information on the vertical position of the height detector at the timing when it is detected that the light receiving state and the light shielding state of the light receiver are switched, without holding the component, and the component are held. Position information storage means for storing inspection position information which is information on the vertical position of the height detector at a timing at which it is detected that the light receiving state and the light shielding state of the light receiver are switched in the state;
A load cell capable of outputting an output signal corresponding to the pressing strength of the nozzle by pressing the nozzle on the upper surface;
With
The nozzle is configured to have a relief upward when its tip is biased downward and pressed upward.
The control calculation unit is
During the mounting operation of the component, based on the reference position information and the inspection position information stored in the position information storage unit, the nozzle movement amount when the nozzle picks up the component and the nozzle is held by the nozzle. In addition, the thickness dimension of the component and the amount of nozzle movement when the component is mounted on the substrate are calculated,
After the nozzle is lowered onto the substrate in order to mount the component on the substrate, the vertical position of the height detector at the timing when it is detected that the light receiving state and the light shielding state of the light receiver are switched. Measure the information again,
When the difference between the measured vertical position and the reference position information is a predetermined value or more and the measured vertical position is higher than the reference position information, the nozzle is Press the load cell to measure the output value from the load cell,
When the difference between the output value from the load cell stored in advance and the output value from the load cell is equal to or greater than a predetermined value, it is determined that the escape of the nozzle is not functioning. apparatus. The light receiver has a line sensor extending along a moving direction of the nozzle,
Detection position storage means for storing the relationship between the output value of the line sensor and the vertical position of the nozzle as a detection start output value in association with each nozzle;
The control calculation unit is configured so that the height detector and the nozzle at the timing when the output value from the line sensor becomes the detection start output value corresponding to each nozzle stored in the detection position storage unit. The component mounting apparatus according to claim 1 , wherein a vertical position of the movable part to be connected is measured. The control calculation unit is
When the difference obtained by subtracting the reference position information from the measured vertical position is a predetermined value or more and the measured vertical position is a lower position than the reference position information, the component is and outputs a signal indicating that it is held by the nozzle, characterized in that, the component mounting apparatus according to claim 1 or 2.

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